Point-normal based scan matcher library and ros wrapper
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cmake_modules
src
CMakeLists.txt
README.md
package.xml

README.md

Library dependencies:

OpenCV Eigen3

Tested under ROS Indigo + Ubuntu 14.04 (but previous versions of both should be ok).

How to install:

  • clone the repository in your catkin_ws/src
  • run: catkin_make

Usage: rosrun thin_scan_matcher thin_scan_matcher_node

Possible arguments:
_laser_topic:=/ros_laser_scan_topic
_published_odom_topic:=/ros_topic_for_published_odometry_based_on_scan_matching
_frame_skip:=#n (take a laser scan every #n)
_bpr:=#p (#p value should be between 0 and 1 and represents the limit percentage of points which are not correctly transformed for keeping the local map generated)